#ifndef PID_H
#define PID_H

#include <AGV.h>

#define Max_Integral 20000.0
#define Max_Speed 10000
#define Max_Speed_Err
#define Max_Speed_6020 30000

extern  Chassis_MOTO MOTO[8];


void Pid_Init(void);

float Position_Pid_6020 (Chassis_MOTO* MOTO,float set);
float String_Pid_6020(Chassis_MOTO*MOTO,float angle);


















#endif //PID_H
